import logging
from typing import Any, Dict, List, Optional, Sequence, Tuple

import cv2
import numpy as np
from models.model_loader import load_detector
from mission_planner import MissionPlan, get_mission_plan
from mission_summarizer import summarize_results
from utils.video import extract_frames, write_video


def draw_boxes(frame: np.ndarray, boxes: np.ndarray) -> np.ndarray:
    output = frame.copy()
    if boxes is None:
        return output
    for box in boxes:
        x1, y1, x2, y2 = [int(coord) for coord in box]
        cv2.rectangle(output, (x1, y1), (x2, y2), (0, 255, 0), thickness=2)
    return output


def _build_detection_records(
    boxes: np.ndarray,
    scores: Sequence[float],
    labels: Sequence[int],
    queries: Sequence[str],
    label_names: Optional[Sequence[str]] = None,
) -> List[Dict[str, Any]]:
    detections: List[Dict[str, Any]] = []
    for idx, box in enumerate(boxes):
        if label_names is not None and idx < len(label_names):
            label = label_names[idx]
        else:
            label_idx = int(labels[idx]) if idx < len(labels) else -1
            if 0 <= label_idx < len(queries):
                label = queries[label_idx]
            else:
                label = f"label_{label_idx}"
        detections.append(
            {
                "label": label,
                "score": float(scores[idx]) if idx < len(scores) else 0.0,
                "bbox": [int(coord) for coord in box.tolist()],
            }
        )
    return detections


def infer_frame(
    frame: np.ndarray,
    queries: Sequence[str],
    detector_name: Optional[str] = None,
) -> Tuple[np.ndarray, List[Dict[str, Any]]]:
    detector = load_detector(detector_name)
    text_queries = list(queries) or ["object"]
    try:
        result = detector.predict(frame, text_queries)
        detections = _build_detection_records(
            result.boxes, result.scores, result.labels, text_queries, result.label_names
        )
    except Exception:
        logging.exception("Inference failed for queries %s", text_queries)
        raise
    return draw_boxes(frame, result.boxes), detections


def run_inference(
    input_video_path: str,
    output_video_path: Optional[str],
    mission_prompt: str,
    max_frames: Optional[int] = None,
    detector_name: Optional[str] = None,
    write_output_video: bool = True,
    generate_summary: bool = True,
    mission_plan: Optional[MissionPlan] = None,
) -> Tuple[Optional[str], MissionPlan, Optional[str]]:
    try:
        frames, fps, width, height = extract_frames(input_video_path)
    except ValueError as exc:
        logging.exception("Failed to decode video at %s", input_video_path)
        raise

    mission_prompt_clean = (mission_prompt or "").strip()
    if not mission_prompt_clean:
        raise ValueError("Mission prompt is required.")
    resolved_plan = mission_plan or get_mission_plan(mission_prompt_clean)
    logging.info("Mission plan: %s", resolved_plan.to_json())
    queries = resolved_plan.queries()

    processed_frames: List[np.ndarray] = []
    detection_log: List[Dict[str, Any]] = []
    for idx, frame in enumerate(frames):
        if max_frames is not None and idx >= max_frames:
            break
        logging.debug("Processing frame %d", idx)
        processed_frame, detections = infer_frame(frame, queries, detector_name=detector_name)
        detection_log.append({"frame_index": idx, "detections": detections})
        processed_frames.append(processed_frame)

    if write_output_video:
        if not output_video_path:
            raise ValueError("output_video_path is required when write_output_video=True.")
        write_video(processed_frames, output_video_path, fps=fps, width=width, height=height)
        video_path_result: Optional[str] = output_video_path
    else:
        video_path_result = None
    mission_summary = (
        summarize_results(mission_prompt_clean, resolved_plan, detection_log) if generate_summary else None
    )
    return video_path_result, resolved_plan, mission_summary